Exponential stabilizability and observability at the target imply semiglobal exponential stabilizability by templated output feedback
arxiv(2024)
摘要
For nonlinear analytic control systems, we introduce a new paradigm for
dynamic output feedback stabilization. We propose to periodically sample the
usual observer based control law, and to reshape it so that it coincides with a
”control template” on each time period. By choosing a control template making
the system observable, we prove that this method allows to bypass the uniform
observability assumption that is used in most nonlinear separation principles.
We prove the genericity of control templates by adapting a universality theorem
of Sussmann.
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